test_chunked_kdtree.cpp

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/*
 * Copyright (c) 2018, the mcl_3dl authors
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 *       this software without specific prior written permission.
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#include <cstddef>
#include <cmath>
#include <vector>

#include <gtest/gtest.h>

#include <mcl_3dl/chunked_kdtree.h>

TEST(ChunkedKdtree, RadiusSearch)
{
  pcl::PointCloud<pcl::PointXYZ> pc;
  pc.push_back(pcl::PointXYZ(0.5, 0.5, 0.5));   // 0
  pc.push_back(pcl::PointXYZ(0.8, 0.0, 0.0));   // 1
  pc.push_back(pcl::PointXYZ(1.3, 0.0, 0.0));   // 2
  pc.push_back(pcl::PointXYZ(0.0, 0.2, 0.0));   // 3
  pc.push_back(pcl::PointXYZ(0.0, -0.3, 0.0));  // 4

  mcl_3dl::ChunkedKdtree<pcl::PointXYZ> kdtree(1.0, 0.3);
  kdtree.setInputCloud(pc.makeShared());

  std::vector<int> id;
  std::vector<float> dist;

  kdtree.radiusSearch(
      pcl::PointXYZ(0.5, 0.5, 0.5),
      0.3, id, dist, 1);
  ASSERT_EQ(id.size(), 1u);
  ASSERT_EQ(id[0], 0);

  kdtree.radiusSearch(
      pcl::PointXYZ(0.5, 0.4, 0.5),
      0.3, id, dist, 1);
  ASSERT_EQ(id.size(), 1u);
  ASSERT_EQ(id[0], 0);

  kdtree.radiusSearch(
      pcl::PointXYZ(1.05, 0.0, 0.0),
      0.3, id, dist, 1);
  ASSERT_EQ(id.size(), 1u);
  ASSERT_EQ(id[0], 1);

  kdtree.radiusSearch(
      pcl::PointXYZ(1.1, 0.0, 0.0),
      0.3, id, dist, 1);
  ASSERT_EQ(id.size(), 1u);
  ASSERT_EQ(id[0], 2);

  kdtree.radiusSearch(
      pcl::PointXYZ(0.0, -0.05, 0.0),
      0.3, id, dist, 1);
  ASSERT_EQ(id.size(), 1u);
  ASSERT_EQ(id[0], 3);

  kdtree.radiusSearch(
      pcl::PointXYZ(0.0, -0.15, 0.0),
      0.3, id, dist, 1);
  ASSERT_EQ(id.size(), 1u);
  ASSERT_EQ(id[0], 4);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}